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TWI749379B - Unmanned vehicle with following function and driving method of unmanned vehicle - Google Patents

Unmanned vehicle with following function and driving method of unmanned vehicle Download PDF

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TWI749379B
TWI749379B TW108137700A TW108137700A TWI749379B TW I749379 B TWI749379 B TW I749379B TW 108137700 A TW108137700 A TW 108137700A TW 108137700 A TW108137700 A TW 108137700A TW I749379 B TWI749379 B TW I749379B
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unmanned vehicle
target
moving mechanism
signal
followed
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TW202016668A (en
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羅正方
陳杏圓
楊義強
林毅斌
王維浩
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經緯航太科技股份有限公司
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/12—Controlling the power contribution of each of the prime movers to meet required power demand using control strategies taking into account route information
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/15—Control strategies specially adapted for achieving a particular effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/12—Target-seeking control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • G05D1/622—Obstacle avoidance
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
    • G08G1/133—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams within the vehicle ; Indicators inside the vehicles or at stops
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects

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  • Radar, Positioning & Navigation (AREA)
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Abstract

一種具有跟隨功能的無人車，包含：一無人車本體；一移動機構，裝設於該無人車本體上，該移動機構驅動該無人車移動；一擷取裝置，裝設於該無人車本體上，該擷取裝置擷取一目標信號，其中該目標信號關聯於一待跟隨目標；以及一處理器，裝設於該無人車本體上，其中當該無人車處於一跟隨模式時，該處理器根據該目標信號產生關聯於該待跟隨目標的一目標方向資訊與一目標距離資訊，並根據該目標方向資訊與該目標距離資訊控制該移動機構，以使該移動機構驅動該無人車以跟隨該待跟隨目標。An unmanned vehicle with following function, comprising: an unmanned vehicle body; a moving mechanism installed on the unmanned vehicle body, the moving mechanism drives the unmanned vehicle to move; a capturing device installed on the unmanned vehicle body , The capture device captures a target signal, wherein the target signal is associated with a target to be followed; and a processor installed on the unmanned vehicle body, wherein when the unmanned vehicle is in a follow mode, the processor According to the target signal, a target direction information and a target distance information related to the target to be followed are generated, and the moving mechanism is controlled according to the target direction information and the target distance information, so that the moving mechanism drives the unmanned vehicle to follow the To be followed by the target.

Description

具有跟隨功能的無人車及無人車驅動方法Unmanned vehicle with following function and driving method of unmanned vehicle

本發明係關於一種具有跟隨功能的無人車及無人車驅動方法。The present invention relates to an unmanned vehicle with a following function and an unmanned vehicle driving method.

傳統的無人車並不具有完善的跟隨功能，而需由使用者自行操控無人車以跟隨使用者。因此，當使用者正在使用其他裝置或設備而無法同時操控無人車，或使用者對無人車的操控方式並不熟悉時，即無法令自行車自行跟隨使用者。有鑑於此，需要一種具有跟隨功能的無人車及無人車驅動方法以使無人車可自行跟隨使用者。The traditional unmanned vehicle does not have a complete following function, and the user needs to control the unmanned vehicle to follow the user. Therefore, when the user is using other devices or equipment and cannot control the unmanned vehicle at the same time, or the user is not familiar with the control method of the unmanned vehicle, the bicycle cannot follow the user on its own. In view of this, there is a need for an unmanned vehicle with a follow-up function and an unmanned vehicle driving method so that the unmanned vehicle can follow the user on its own.

為了解決上述問題，本發明之一構想在於提供一種具有跟隨功能的無人車及無人車驅動方法以使無人車可自行跟隨使用者。In order to solve the above-mentioned problems, one of the ideas of the present invention is to provide an unmanned vehicle with a following function and an unmanned vehicle driving method so that the unmanned vehicle can follow the user by itself.

基於前揭構想，本發明提供一種具有跟隨功能的無人車，包含：一無人車本體；一移動機構，裝設於該無人車本體上，該移動機構驅動該無人車移動；一擷取裝置，裝設於該無人車本體上，該擷取裝置擷取一目標信號，其中該目標信號關聯於一待跟隨目標；以及一處理器，裝設於該無人車本體上，其中當該無人車處於一跟隨模式時，該處理器根據該目標信號產生關聯於該待跟隨目標的一目標方向資訊與一目標距離資訊，並根據該目標方向資訊與該目標距離資訊控制該移動機構，以使該移動機構驅動該無人車以跟隨該待跟隨目標。Based on the aforementioned concept, the present invention provides an unmanned vehicle with following function, including: an unmanned vehicle body; a moving mechanism installed on the unmanned vehicle body, and the moving mechanism drives the unmanned vehicle to move; and a capture device, Installed on the unmanned vehicle body, the capture device captures a target signal, wherein the target signal is associated with a target to be followed; and a processor installed on the unmanned vehicle body, wherein when the unmanned vehicle is in In a follow mode, the processor generates a target direction information and a target distance information related to the target to be followed according to the target signal, and controls the moving mechanism according to the target direction information and the target distance information to make the movement The mechanism drives the unmanned vehicle to follow the target to be followed.

於本發明之一較佳實施例中，該擷取裝置為一影像擷取裝置，該目標信號為包含該待跟隨目標的一影像信號。In a preferred embodiment of the present invention, the capturing device is an image capturing device, and the target signal is an image signal including the target to be followed.

於本發明之一較佳實施例中，該目標信號係由置於該待跟隨目標上的一信號發射器所產生；其中該擷取裝置包含複數個接收裝置，該複數個接收裝置分別接收該信號發射器所產生的該目標信號；其中該處理器係根據該複數個接收裝置所分別接收到的該目標信號以產生該目標方向資訊與該目標距離資訊。In a preferred embodiment of the present invention, the target signal is generated by a signal transmitter placed on the target to be followed; wherein the capturing device includes a plurality of receiving devices, and the plurality of receiving devices respectively receive the The target signal generated by the signal transmitter; wherein the processor generates the target direction information and the target distance information according to the target signals respectively received by the plurality of receiving devices.

於本發明之一較佳實施例中，該複數個接收裝置分別裝設於該無人車本體上的不同位置；其中該目標信號係一超寬頻（UWB ，Ultra Wideband）信號；其中該信號發射器與該複數個接收裝置組合成一超寬頻定位系統。In a preferred embodiment of the present invention, the plurality of receiving devices are respectively installed at different positions on the body of the unmanned vehicle; wherein the target signal is an ultra wideband (UWB, Ultra Wideband) signal; wherein the signal transmitter Combined with the plurality of receiving devices to form an ultra-wideband positioning system.

於本發明之一較佳實施例中，該無人車進一步包含：一雷射測距裝置，裝設於該無人車本體上，該雷射測距裝置偵測該無人車與一待避物體的一間隔距離；其中該處理器根據該間隔距離控制該移動機構，以使該移動機構驅動該無人車繞過該待避物體。In a preferred embodiment of the present invention, the unmanned vehicle further includes: a laser ranging device installed on the body of the unmanned vehicle, and the laser ranging device detects one of the unmanned vehicle and an object to be avoided Separation distance; wherein the processor controls the moving mechanism according to the separation distance, so that the moving mechanism drives the unmanned vehicle to bypass the object to be avoided.

於本發明之一較佳實施例中，當該無人車繞過該待避物體後，該處理器根據該目標方向資訊與該目標距離資訊控制該移動機構，以使該移動機構驅動該無人車以繼續跟隨該待跟隨目標。In a preferred embodiment of the present invention, after the unmanned vehicle bypasses the object to be avoided, the processor controls the moving mechanism according to the target direction information and the target distance information, so that the moving mechanism drives the unmanned vehicle to Continue to follow the target to be followed.

於本發明之一較佳實施例中，當該間隔距離小於一預定距離時，該處理器根據該間隔距離控制該移動機構，以使該移動機構停止驅動該無人車。In a preferred embodiment of the present invention, when the separation distance is less than a predetermined distance, the processor controls the moving mechanism according to the separation distance, so that the moving mechanism stops driving the unmanned vehicle.

於本發明之一較佳實施例中，該無人車進一步包含一警示裝置，該警示裝置裝設於該無人車本體上；其中當該擷取裝置於一預定時間內均未擷取到該目標信號時，該警示裝置發出一警示。In a preferred embodiment of the present invention, the unmanned vehicle further includes a warning device installed on the body of the unmanned vehicle; wherein when the capturing device does not capture the target within a predetermined time When signal, the warning device sends out a warning.

根據本發明之目的，再提供一種無人車驅動方法，應用於一無人車，該無人車驅動方法包含：使該無人車處於一跟隨模式；由該無人車的一擷取裝置擷取一目標信號，其中該目標信號關聯於一待跟隨目標；由該無人車的一處理器根據該目標信號產生關聯於該待跟隨目標的一目標方向資訊與一目標距離資訊；以及由該處理器根據該目標方向資訊與該目標距離資訊控制該無人車的一移動機構，以使該移動機構驅動該無人車以跟隨該待跟隨目標。According to the objective of the present invention, there is provided an unmanned vehicle driving method applied to an unmanned vehicle. The unmanned vehicle driving method includes: placing the unmanned vehicle in a follow mode; and capturing a target signal by a capturing device of the unmanned vehicle , Wherein the target signal is related to a target to be followed; a processor of the unmanned vehicle generates a target direction information and a target distance information related to the target to be followed according to the target signal; and the processor according to the target The direction information and the target distance information control a moving mechanism of the unmanned vehicle, so that the moving mechanism drives the unmanned vehicle to follow the target to be followed.

於本發明之一較佳實施例中，該擷取裝置為一影像擷取裝置，該目標信號為包含該待跟隨目標的一影像信號。In a preferred embodiment of the present invention, the capturing device is an image capturing device, and the target signal is an image signal including the target to be followed.

於本發明之一較佳實施例中，該無人車驅動方法進一步包含：由置於該待跟隨目標上的一信號發射器產生該目標信號；其中該擷取裝置包含複數個接收裝置，所述由該無人車的該擷取裝置擷取該目標信號係由該複數個接收裝置分別接收該信號發射器所產生的該目標信號；其中該處理器係根據該複數個接收裝置所分別接收到的該目標信號以產生該目標方向資訊與該目標距離資訊。In a preferred embodiment of the present invention, the driverless vehicle driving method further includes: generating the target signal by a signal transmitter placed on the target to be followed; wherein the capturing device includes a plurality of receiving devices, the The target signal captured by the capturing device of the unmanned vehicle is obtained by the plurality of receiving devices respectively receiving the target signal generated by the signal transmitter; wherein the processor is based on the signals received by the plurality of receiving devices respectively The target signal is used to generate the target direction information and the target distance information.

於本發明之一較佳實施例中，該複數個接收裝置分別裝設於該無人車上的不同位置；其中該目標信號係一超寬頻信號；其中該信號發射器與該複數個接收裝置組合成一超寬頻定位系統。In a preferred embodiment of the present invention, the plurality of receiving devices are respectively installed at different positions on the unmanned vehicle; wherein the target signal is an ultra-wideband signal; wherein the signal transmitter is combined with the plurality of receiving devices As an ultra-wideband positioning system.

於本發明之一較佳實施例中，該無人車驅動方法進一步包含：由該無人車的一雷射測距裝置偵測該無人車與一待避物體的一間隔距離；以及由該處理器根據該間隔距離控制該移動機構，以使該移動機構驅動該無人車繞過該待避物體。In a preferred embodiment of the present invention, the driving method of the unmanned vehicle further includes: detecting a separation distance between the unmanned vehicle and an object to be avoided by a laser ranging device of the unmanned vehicle; The separation distance controls the moving mechanism so that the moving mechanism drives the unmanned vehicle to bypass the object to be avoided.

於本發明之一較佳實施例中，該無人車驅動方法進一步包含：當該無人車繞過該待避物體後，由該處理器根據該目標方向資訊與該目標距離資訊控制該無人車的該移動機構，以使該移動機構驅動該無人車以繼續跟隨該待跟隨目標。In a preferred embodiment of the present invention, the driving method of the unmanned vehicle further includes: after the unmanned vehicle bypasses the object to be avoided, the processor controls the unmanned vehicle according to the target direction information and the target distance information. A moving mechanism, so that the moving mechanism drives the unmanned vehicle to continue to follow the target to be followed.

於本發明之一較佳實施例中，該無人車驅動方法進一步包含：當該間隔距離小於一預定距離時，由該處理器根據該間隔距離控制該移動機構，以使該移動機構停止驅動該無人車。In a preferred embodiment of the present invention, the unmanned vehicle driving method further includes: when the separation distance is less than a predetermined distance, the processor controls the moving mechanism according to the separation distance, so that the moving mechanism stops driving the Unmanned vehicles.

於本發明之一較佳實施例中，該無人車驅動方法進一步包含：當該擷取裝置於一預定時間內均未擷取到該目標信號時，由該無人車的一警示裝置發出一警示。In a preferred embodiment of the present invention, the driving method of the unmanned vehicle further includes: when the capture device does not capture the target signal within a predetermined time, a warning device of the unmanned vehicle issues a warning .

本發明前述各方面及其它方面依據下述的非限制性具體實施例詳細說明以及參照附隨的圖式將更趨於明瞭。The foregoing aspects and other aspects of the present invention will be more clarified based on the detailed description of the following non-limiting specific embodiments and with reference to the accompanying drawings.

請參閱第一圖，其例示說明了根據本發明無人車一具體實施例的系統架構圖。如第一圖所示實施例，具有跟隨功能的無人車100包含無人車本體110、移動機構120、雷射測距裝置130、處理器140、擷取裝置150以及警示裝置160。其中，移動機構120、雷射測距裝置130、處理器140、擷取裝置150以及警示裝置160均裝設於無人車本體110上，處理器140控制移動機構120，以使移動機構120驅動無人車100移動。在第一圖所示實施例中，擷取裝置150包含第一接收裝置152、第二接收裝置154、第三接收裝置156以及第四接收裝置158。信號發射器600置於待跟隨目標500上，第一接收裝置152、第二接收裝置154、第三接收裝置156以及第四接收裝置158可分別接收信號發射器600所產生的目標信號。Please refer to the first figure, which illustrates a system architecture diagram of a specific embodiment of the unmanned vehicle according to the present invention. As shown in the embodiment shown in the first figure, the unmanned vehicle 100 with following function includes an unmanned vehicle body 110, a moving mechanism 120, a laser distance measuring device 130, a processor 140, a capturing device 150, and a warning device 160. Among them, the moving mechanism 120, the laser distance measuring device 130, the processor 140, the capturing device 150, and the warning device 160 are all installed on the unmanned vehicle body 110. The processor 140 controls the moving mechanism 120 so that the moving mechanism 120 drives the unmanned vehicle. The car 100 moves. In the embodiment shown in the first figure, the capturing device 150 includes a first receiving device 152, a second receiving device 154, a third receiving device 156, and a fourth receiving device 158. The signal transmitter 600 is placed on the target 500 to be followed, and the first receiving device 152, the second receiving device 154, the third receiving device 156, and the fourth receiving device 158 can respectively receive the target signal generated by the signal transmitter 600.

在一具體實施例中，第一接收裝置152、第二接收裝置154、第三接收裝置156以及第四接收裝置158分別裝設於無人車本體110上的不同位置，並可通訊連接於信號發射器600。其中，目標信號係一超寬頻信號，第一接收裝置152、第二接收裝置154、第三接收裝置156、第四接收裝置158與信號發射器600組合成一超寬頻定位系統。如此，當無人車100處於跟隨模式時，處理器140即可根據第一接收裝置152、第二接收裝置154、第三接收裝置156與第四接收裝置158所分別自信號發射器600接收到的目標信號以產生關聯於待跟隨目標500的目標方向資訊與目標距離資訊。處理器140並可進一步根據所產生的目標方向資訊與目標距離資訊控制移動機構120，以使移動機構120驅動無人車100以跟隨待跟隨目標500。在一具體實施例中，處理器140係根據所產生的目標方向資訊與目標距離資訊控制移動機構120，以使無人車100根據待跟隨目標500的移動速度而跟隨待跟隨目標500。在一具體實施例中，無人車100係以實質上相等於待跟隨目標500的移動速度而跟隨待跟隨目標500。在一具體實施例中，處理器140係根據所產生的目標方向資訊與目標距離資訊控制移動機構120，使無人車100以與待跟隨目標500保持一預定跟隨距離的方式跟隨待跟隨目標500。In a specific embodiment, the first receiving device 152, the second receiving device 154, the third receiving device 156, and the fourth receiving device 158 are respectively installed in different positions on the unmanned vehicle body 110, and can be communicatively connected to the signal transmitter器600. The target signal is an ultra-wideband signal, and the first receiving device 152, the second receiving device 154, the third receiving device 156, the fourth receiving device 158, and the signal transmitter 600 are combined to form an ultra-wideband positioning system. In this way, when the unmanned vehicle 100 is in the follow-up mode, the processor 140 can according to the information received from the signal transmitter 600 by the first receiving device 152, the second receiving device 154, the third receiving device 156, and the fourth receiving device 158. The target signal is used to generate target direction information and target distance information related to the target 500 to be followed. The processor 140 may further control the moving mechanism 120 according to the generated target direction information and target distance information, so that the moving mechanism 120 drives the unmanned vehicle 100 to follow the target 500 to be followed. In a specific embodiment, the processor 140 controls the moving mechanism 120 according to the generated target direction information and target distance information, so that the unmanned vehicle 100 follows the target 500 to be followed according to the moving speed of the target 500 to be followed. In a specific embodiment, the unmanned vehicle 100 follows the target 500 to be followed at a moving speed substantially equal to the target 500 to be followed. In a specific embodiment, the processor 140 controls the moving mechanism 120 according to the generated target direction information and target distance information, so that the unmanned vehicle 100 follows the target 500 to be followed by maintaining a predetermined following distance from the target 500 to be followed.

在第一圖所示實施例中，雷射測距裝置130可偵測無人車100與一待避物體的間隔距離。處理器140並可接著根據所偵測到的間隔距離控制移動機構120，以使移動機構120驅動無人車100繞過待避物體。在一具體實施例中，當無人車100繞過待避物體後，處理器140可根據目標方向資訊與目標距離資訊控制移動機構120，以使移動機構120驅動無人車100以繼續跟隨待跟隨目標500。在一具體實施例中，當間隔距離小於一預定距離時，處理器140即根據所偵測到的間隔距離控制移動機構120，以使移動機構120停止驅動無人車100。如此，即可避免無人車100撞擊突然出現於前方的物體。In the embodiment shown in the first figure, the laser distance measuring device 130 can detect the distance between the unmanned vehicle 100 and an object to be avoided. The processor 140 may then control the moving mechanism 120 according to the detected separation distance, so that the moving mechanism 120 drives the unmanned vehicle 100 to bypass the object to be avoided. In a specific embodiment, after the unmanned vehicle 100 bypasses the object to be avoided, the processor 140 may control the moving mechanism 120 according to the target direction information and the target distance information, so that the moving mechanism 120 drives the unmanned vehicle 100 to continue to follow the target 500 to be followed. . In a specific embodiment, when the separation distance is less than a predetermined distance, the processor 140 controls the moving mechanism 120 according to the detected separation distance, so that the moving mechanism 120 stops driving the unmanned vehicle 100. In this way, the unmanned vehicle 100 can be prevented from hitting an object that suddenly appears in front.

在第一圖所示實施例中，當擷取裝置150於一預定時間內均未擷取到目標信號時，警示裝置160即發出警示。在一具體實施例中，所述於一預定時間內未擷取到目標信號，係指第一接收裝置152、第二接收裝置154、第三接收裝置156或第四接收裝置158其中至少一者於一預定時間內均未接收到目標信號。在一具體實施例中，所述於一預定時間內未擷取到目標信號，係指第一接收裝置152、第二接收裝置154、第三接收裝置156或第四接收裝置158其中至少兩者於一預定時間內均未接收到目標信號（若僅其中一者未接收到目標信號，則無人車100仍可執行其跟隨功能）。在一具體實施例中，當無人車100無法繞過待避物體（例如待避物體的體機過於龐大而無法繞過）或無法朝待跟隨目標500的方向前進（例如因地形的高低落差過大導致無人車100無法朝待跟隨目標500的方向前進，或通道太窄導致無人車100無法通過等）時，警示裝置160即發出警示。In the embodiment shown in the first figure, when the capture device 150 does not capture the target signal within a predetermined period of time, the warning device 160 issues a warning. In a specific embodiment, the target signal that is not captured within a predetermined period of time refers to at least one of the first receiving device 152, the second receiving device 154, the third receiving device 156, or the fourth receiving device 158 The target signal is not received within a predetermined time. In a specific embodiment, the target signal that is not captured within a predetermined period of time refers to at least two of the first receiving device 152, the second receiving device 154, the third receiving device 156, or the fourth receiving device 158 The target signal is not received within a predetermined time (if only one of them does not receive the target signal, the unmanned vehicle 100 can still perform its following function). In a specific embodiment, when the unmanned vehicle 100 cannot bypass the object to be avoided (for example, the body of the object to be avoided is too large to be bypassed) or cannot move in the direction of the target 500 to be followed (for example, due to the large height difference of the terrain, no one When the vehicle 100 cannot move in the direction of the target 500 to be followed, or the passage is too narrow to cause the unmanned vehicle 100 to pass through, etc.), the warning device 160 will issue a warning.

應了解，第一圖在此僅為例示，無人車的擷取裝置並非僅可包含四個接收裝置，而係可視需求包含不同數量的接收裝置。例如無人車的擷取裝置可包含五個或六個接收裝置，但不以此為限。It should be understood that the first figure is only an example here, and the capture device of the unmanned vehicle may not only include four receiving devices, but may include different numbers of receiving devices as required. For example, the capture device of an unmanned vehicle may include five or six receiving devices, but it is not limited to this.

請參閱第二圖，其例示說明了根據本發明無人車另一具體實施例的系統架構圖。如第二圖所示實施例，具有跟隨功能的無人車200包含無人車本體210、移動機構220、雷射測距裝置230、處理器240、擷取裝置250以及警示裝置260。其中，移動機構220、雷射測距裝置230、處理器240、擷取裝置250以及警示裝置260均裝設於無人車本體210上，處理器240控制移動機構220，以使移動機構220驅動無人車200移動。在第二圖所示實施例中，擷取裝置250為影像擷取裝置，其擷取包含了待跟隨目標500的一影像信號以做為目標信號。Please refer to the second figure, which illustrates a system architecture diagram of another specific embodiment of an unmanned vehicle according to the present invention. As shown in the embodiment shown in the second figure, the unmanned vehicle 200 with following function includes an unmanned vehicle body 210, a moving mechanism 220, a laser distance measuring device 230, a processor 240, a capturing device 250, and a warning device 260. Among them, the moving mechanism 220, the laser distance measuring device 230, the processor 240, the capturing device 250, and the warning device 260 are all installed on the unmanned vehicle body 210. The processor 240 controls the moving mechanism 220 so that the moving mechanism 220 drives the unmanned vehicle. The car 200 moves. In the embodiment shown in the second figure, the capturing device 250 is an image capturing device, which captures an image signal including the target 500 to be followed as the target signal.

在一具體實施例中，在擷取裝置250擷取包含了待跟隨目標500的影像信號以做為目標信號之前，處理器240可根據擷取裝置250所擷取的影像，判斷是否可開始進行待跟隨目標500的辨識。例如當擷取裝置250所擷取的影像為逆光的影像而不易辨識影像中的各個物體時，處理器240即判斷為不適合進行待跟隨目標500的辨識。或例如當擷取裝置250所擷取的影像中包含過多人物而不易確認待跟隨目標500為影像中的何者時，處理器240即判斷為不適合進行待跟隨目標500的辨識。在一具體實施例中，當處理器240判斷為適合進行待跟隨目標500的辨識時，擷取裝置250即開始擷取包含了待跟隨目標500的影像信號，此時處理器240可根據該影像信號辨識待跟隨目標500，並記錄待跟隨目標500為無人車200應跟隨的對象。如此，當無人車200處於跟隨模式時，擷取裝置250即開始擷取包含了待跟隨目標500的影像信號以做為目標信號。處理器240則根據目標信號以產生關聯於待跟隨目標500的目標方向資訊與目標距離資訊。處理器240並可進一步根據所產生的目標方向資訊與目標距離資訊控制移動機構220，以使移動機構220驅動無人車200以跟隨待跟隨目標500。在一具體實施例中，處理器240係根據所產生的目標方向資訊與目標距離資訊控制移動機構220，以使無人車200根據待跟隨目標500的移動速度而跟隨待跟隨目標500。在一具體實施例中，無人車200係以實質上相等於待跟隨目標500的移動速度而跟隨待跟隨目標500。在一具體實施例中，處理器240係根據所產生的目標方向資訊與目標距離資訊控制移動機構220，使無人車200以與待跟隨目標500保持一預定跟隨距離的方式跟隨待跟隨目標500。In a specific embodiment, before the capture device 250 captures the image signal containing the target 500 to be followed as the target signal, the processor 240 may determine whether the process can be started based on the image captured by the capture device 250 Identification of the target 500 to be followed. For example, when the image captured by the capturing device 250 is a backlit image and it is difficult to recognize each object in the image, the processor 240 determines that it is not suitable for the recognition of the target 500 to be followed. Or, for example, when the image captured by the capturing device 250 contains too many people and it is difficult to determine which of the target to be followed is in the image, the processor 240 determines that it is not suitable for the recognition of the target to be followed 500. In a specific embodiment, when the processor 240 determines that the target 500 to be followed is suitable for identification, the capturing device 250 starts to capture the image signal containing the target 500 to be followed. At this time, the processor 240 can use the image The signal identifies the target 500 to be followed, and records that the target 500 to be followed is an object that the unmanned vehicle 200 should follow. In this way, when the unmanned vehicle 200 is in the following mode, the capturing device 250 starts to capture the image signal including the target 500 to be followed as the target signal. The processor 240 generates target direction information and target distance information related to the target 500 to be followed according to the target signal. The processor 240 may further control the moving mechanism 220 according to the generated target direction information and target distance information, so that the moving mechanism 220 drives the unmanned vehicle 200 to follow the target 500 to be followed. In a specific embodiment, the processor 240 controls the moving mechanism 220 according to the generated target direction information and target distance information, so that the unmanned vehicle 200 follows the target 500 to be followed according to the moving speed of the target 500 to be followed. In a specific embodiment, the unmanned vehicle 200 follows the target 500 to be followed at a moving speed substantially equal to the target 500 to be followed. In a specific embodiment, the processor 240 controls the moving mechanism 220 according to the generated target direction information and target distance information, so that the unmanned vehicle 200 follows the target 500 to be followed by maintaining a predetermined following distance from the target 500 to be followed.

在第二圖所示實施例中，雷射測距裝置230可偵測無人車200與一待避物體的間隔距離。處理器240並可根據所偵測到的間隔距離控制移動機構220，以使移動機構220驅動無人車200繞過待避物體。在一具體實施例中，當無人車200繞過待避物體後，處理器240可根據目標方向資訊與目標距離資訊控制移動機構220，以使移動機構220驅動無人車100以繼續跟隨待跟隨目標500。在一具體實施例中，當間隔距離小於一預定距離時，處理器240即根據所偵測到的間隔距離控制移動機構220，以使移動機構220停止驅動無人車100。如此，即可避免無人車200撞擊突然出現於前方的物體。In the embodiment shown in the second figure, the laser distance measuring device 230 can detect the distance between the unmanned vehicle 200 and an object to be avoided. The processor 240 can control the moving mechanism 220 according to the detected separation distance, so that the moving mechanism 220 drives the unmanned vehicle 200 to bypass the object to be avoided. In a specific embodiment, after the unmanned vehicle 200 bypasses the object to be avoided, the processor 240 may control the moving mechanism 220 according to the target direction information and the target distance information, so that the moving mechanism 220 drives the unmanned vehicle 100 to continue to follow the target 500 to be followed. . In a specific embodiment, when the separation distance is less than a predetermined distance, the processor 240 controls the moving mechanism 220 according to the detected separation distance, so that the moving mechanism 220 stops driving the unmanned vehicle 100. In this way, the unmanned vehicle 200 can be prevented from hitting an object that suddenly appears in the front.

在第二圖所示實施例中，當擷取裝置250於一預定時間內均未擷取到目標信號時，警示裝置260即發出警示。在一具體實施例中，當無人車100無法繞過待避物體（例如待避物體的體機過於龐大而無法繞過）或無法朝待跟隨目標500的方向前進（例如因地形的高低落差過大導致無人車200無法朝待跟隨目標500的方向前進，或通道太窄導致無人車200無法通過等）時，警示裝置260即發出警示。In the embodiment shown in the second figure, when the capture device 250 does not capture the target signal within a predetermined period of time, the warning device 260 issues a warning. In a specific embodiment, when the unmanned vehicle 100 cannot bypass the object to be avoided (for example, the body of the object to be avoided is too large to be bypassed) or cannot move in the direction of the target 500 to be followed (for example, due to the large height difference of the terrain, no one When the vehicle 200 cannot move in the direction of the target 500 to be followed, or the passage is too narrow to cause the unmanned vehicle 200 to pass through, etc.), the warning device 260 will issue a warning.

請參閱第三圖，其例示說明了根據本發明無人車驅動方法一具體實施例的流程圖。如第三圖所示實施例，無人車驅動方法300開始於步驟310，使該無人車處於跟隨模式。接著進行步驟320，由無人車的擷取裝置擷取目標信號，其中該目標信號關聯於待跟隨目標。接著進行步驟330，由無人車的處理器根據目標信號產生關聯於待跟隨目標的目標方向資訊與目標距離資訊。接著進行步驟340，由處理器根據目標方向資訊與目標距離資訊控制無人車的移動機構，以使移動機構驅動無人車以跟隨待跟隨目標。接著進行步驟350，由無人車的雷射測距裝置偵測無人車與待避物體的間隔距離。接著進行步驟360，由處理器根據該間隔距離控制移動機構，以使移動機構驅動無人車繞過待避物體。接著進行步驟370，當無人車繞過待避物體後，由處理器根據目標方向資訊與目標距離資訊控制無人車的移動機構，以使移動機構驅動無人車以繼續跟隨待跟隨目標。Please refer to the third figure, which illustrates a flowchart of a specific embodiment of an unmanned vehicle driving method according to the present invention. As in the embodiment shown in the third figure, the unmanned vehicle driving method 300 starts at step 310, and the unmanned vehicle is placed in the follow mode. Then, step 320 is performed to capture the target signal by the capture device of the unmanned vehicle, where the target signal is associated with the target to be followed. Next, proceed to step 330, and the processor of the unmanned vehicle generates target direction information and target distance information related to the target to be followed according to the target signal. Then, step 340 is performed. The processor controls the unmanned vehicle's moving mechanism according to the target direction information and the target distance information, so that the moving mechanism drives the unmanned vehicle to follow the target to be followed. Next, proceed to step 350, where the laser distance measuring device of the unmanned vehicle detects the distance between the unmanned vehicle and the object to be avoided. Next, proceed to step 360, where the processor controls the moving mechanism according to the separation distance, so that the moving mechanism drives the unmanned vehicle to bypass the object to be avoided. Then, step 370 is performed. After the unmanned vehicle bypasses the object to be avoided, the processor controls the moving mechanism of the unmanned vehicle according to the target direction information and the target distance information, so that the moving mechanism drives the unmanned vehicle to continue to follow the target to be followed.

在一具體實施例中，無人車的擷取裝置為影像擷取裝置，其中目標信號為包含待跟隨目標的一影像信號。在一具體實施例中，無人車驅動方法300進一步包含當間隔距離小於一預定距離時，由處理器根據間隔距離控制移動機構，以使移動機構停止驅動無人車之步驟。在一具體實施例中，無人車驅動方法300進一步包含當擷取裝置於一預定時間內均未擷取到目標信號時，由無人車的警示裝置發出警示之步驟。In a specific embodiment, the capturing device of the unmanned vehicle is an image capturing device, wherein the target signal is an image signal including the target to be followed. In a specific embodiment, the unmanned vehicle driving method 300 further includes the step of controlling the moving mechanism by the processor according to the separation distance when the separation distance is less than a predetermined distance, so that the moving mechanism stops driving the unmanned vehicle. In a specific embodiment, the driving method 300 of the unmanned vehicle further includes the step of issuing a warning by the warning device of the unmanned vehicle when the capturing device does not capture the target signal within a predetermined time.

在一具體實施例中，擷取裝置包含複數個接收裝置。在步驟320之前進一步包含了由置於待跟隨目標上的信號發射器產生目標信號之步驟。其中步驟320所述由無人車的擷取裝置擷取目標信號係由該複數個接收裝置分別接收信號發射器所產生的目標信號。且其中該處理器係根據該複數個接收裝置所分別接收到的該目標信號以產生該目標方向資訊與該目標距離資訊。在一具體實施例中，該複數個接收裝置分別裝設於無人車上的不同位置。其中目標信號係一超寬頻信號，信號發射器與該複數個接收裝置組合成一超寬頻定位系統。In a specific embodiment, the capturing device includes a plurality of receiving devices. Before step 320, a step of generating a target signal by a signal transmitter placed on the target to be followed is further included. The target signal captured by the capturing device of the unmanned vehicle in step 320 is the target signal generated by the signal transmitter received by the plurality of receiving devices. And the processor generates the target direction information and the target distance information according to the target signal received by the plurality of receiving devices. In a specific embodiment, the plurality of receiving devices are respectively installed in different positions on the unmanned vehicle. The target signal is an ultra-wideband signal, and the signal transmitter and the plurality of receiving devices are combined to form an ultra-wideband positioning system.

至此，本發明之具有跟隨功能的無人車及無人車驅動方法已經由上述說明及圖式加以說明。然應了解，本發明各具體實施例僅是做為說明之用，在不脫離本發明申請專利範圍與精神下可進行各種改變，且均應包含於本發明之專利範圍中。因此，本說明書所描述的各具體實施例並非用以限制本發明，本發明之真實範圍與精神揭示於以下申請專利範圍。So far, the unmanned vehicle with the following function and the driving method of the unmanned vehicle of the present invention have been described by the above description and drawings. However, it should be understood that the specific embodiments of the present invention are for illustrative purposes only, and various changes can be made without departing from the scope and spirit of the patent application of the present invention, and all should be included in the patent scope of the present invention. Therefore, the specific embodiments described in this specification are not intended to limit the present invention, and the true scope and spirit of the present invention are disclosed in the scope of the following patent applications.

100:無人車 110:無人車本體 120:移動機構 130:雷射測距裝置 140:處理器 150:擷取裝置 152:第一接收裝置 154:第二接收裝置 156:第三接收裝置 158:第四接收裝置 160:警示裝置 200:無人車 210:無人車本體 220:移動機構 230:雷射測距裝置 240:處理器 250:擷取裝置 260:警示裝置 300:無人車驅動方法 310:步驟 320:步驟 330:步驟 340:步驟 350:步驟 360:步驟 370:步驟 500:待跟隨目標 600:信號發射器100: Self-driving car 110: Self-driving car body 120: mobile mechanism 130: Laser ranging device 140: processor 150: capture device 152: The first receiving device 154: second receiving device 156: Third receiving device 158: Fourth receiving device 160: warning device 200: Self-driving car 210: Self-driving car body 220: mobile organization 230: Laser ranging device 240: processor 250: capture device 260: Warning Device 300: Unmanned vehicle driving method 310: Step 320: step 330: Step 340: Step 350: Step 360: steps 370: step 500: target to be followed 600: signal transmitter

第一圖為本發明無人車一具體實施例的系統架構圖。The first figure is a system architecture diagram of a specific embodiment of the unmanned vehicle of the present invention.

第二圖為本發明無人車另一具體實施例的系統架構圖。The second figure is a system architecture diagram of another specific embodiment of the unmanned vehicle of the present invention.

第三圖為本發明無人車驅動方法一具體實施例的流程圖。The third figure is a flowchart of a specific embodiment of the unmanned vehicle driving method of the present invention.

無none

100:無人車 100: Self-driving car

110:無人車本體 110: Self-driving car body

120:移動機構 120: mobile mechanism

130:雷射測距裝置 130: Laser ranging device

140:處理器 140: processor

150:擷取裝置 150: capture device

152:第一接收裝置 152: The first receiving device

154:第二接收裝置 154: second receiving device

156:第三接收裝置 156: Third receiving device

158:第四接收裝置 158: Fourth receiving device

160:警示裝置 160: warning device

500:待跟隨目標 500: target to be followed

600:信號發射器 600: signal transmitter

Claims (10)

一種具有跟隨功能的無人車，包含：一無人車本體；一移動機構，裝設於該無人車本體上，該移動機構驅動該無人車移動；一擷取裝置，裝設於該無人車本體上，該擷取裝置擷取一目標信號，其中該目標信號關聯於一待跟隨目標；一處理器，裝設於該無人車本體上，其中當該無人車處於一跟隨模式時，該處理器根據該目標信號產生關聯於該待跟隨目標的一目標方向資訊與一目標距離資訊，並根據該目標方向資訊與該目標距離資訊控制該移動機構，以使該移動機構驅動該無人車以跟隨該待跟隨目標；以及一雷射測距裝置，裝設於該無人車本體上，該雷射測距裝置偵測該無人車與一待避物體的一間隔距離；其中該目標信號係由置於該待跟隨目標上的一信號發射器所產生；其中該擷取裝置包含複數個接收裝置，該複數個接收裝置分別接收該信號發射器所產生的該目標信號；其中該處理器係根據該複數個接收裝置所分別接收到的該目標信號以產生該目標方向資訊與該目標距離資訊；其中該複數個接收裝置分別裝設於該無人車本體上的不同位置； 其中當該間隔距離小於一預定距離時，該處理器根據該間隔距離控制該移動機構，以使該移動機構停止驅動該無人車。 An unmanned vehicle with following function, comprising: an unmanned vehicle body; a moving mechanism installed on the unmanned vehicle body, the moving mechanism drives the unmanned vehicle to move; a capturing device installed on the unmanned vehicle body , The capture device captures a target signal, wherein the target signal is associated with a target to be followed; a processor installed on the body of the unmanned vehicle, wherein when the unmanned vehicle is in a follow mode, the processor is based on The target signal generates a target direction information and a target distance information related to the target to be followed, and controls the moving mechanism according to the target direction information and the target distance information, so that the moving mechanism drives the unmanned vehicle to follow the target. Follow the target; and a laser ranging device installed on the body of the unmanned vehicle, the laser ranging device detects a separation distance between the unmanned vehicle and an object to be avoided; wherein the target signal is placed in the waiting Is generated by a signal transmitter on the following target; wherein the capturing device includes a plurality of receiving devices, and the plurality of receiving devices respectively receive the target signal generated by the signal transmitter; wherein the processor is based on the plurality of receiving devices The target signals received by the devices are used to generate the target direction information and the target distance information; wherein the plurality of receiving devices are respectively installed at different positions on the body of the unmanned vehicle; When the separation distance is less than a predetermined distance, the processor controls the moving mechanism according to the separation distance, so that the moving mechanism stops driving the unmanned vehicle. 如申請專利範圍第1項所述之無人車，其中該目標信號係一超寬頻信號；其中該信號發射器與該複數個接收裝置組合成一超寬頻定位系統。 For the unmanned vehicle described in item 1 of the scope of patent application, wherein the target signal is an ultra-wideband signal; wherein the signal transmitter and the plurality of receiving devices are combined to form an ultra-wideband positioning system. 如申請專利範圍第1項所述之無人車，其中該處理器根據該間隔距離控制該移動機構，以使該移動機構驅動該無人車繞過該待避物體。 For example, the unmanned vehicle described in item 1 of the scope of patent application, wherein the processor controls the moving mechanism according to the separation distance, so that the moving mechanism drives the unmanned vehicle to bypass the object to be avoided. 如申請專利範圍第3項所述之無人車，其中當該無人車繞過該待避物體後，該處理器根據該目標方向資訊與該目標距離資訊控制該移動機構，以使該移動機構驅動該無人車以繼續跟隨該待跟隨目標。 For example, the unmanned vehicle described in item 3 of the scope of patent application, wherein when the unmanned vehicle bypasses the object to be avoided, the processor controls the moving mechanism according to the target direction information and the target distance information, so that the moving mechanism drives the The unmanned vehicle can continue to follow the target to be followed. 如申請專利範圍第1項所述之無人車，進一步包含一警示裝置，該警示裝置裝設於該無人車本體上；其中當該擷取裝置於一預定時間內均未擷取到該目標信號時，該警示裝置發出一警示。 For example, the unmanned vehicle described in item 1 of the scope of patent application further includes a warning device installed on the main body of the unmanned vehicle; wherein when the capturing device fails to capture the target signal within a predetermined period of time When, the warning device sends out a warning. 一種無人車驅動方法，應用於一無人車，該無人車驅動方法包含：使該無人車處於一跟隨模式；由置於一待跟隨目標上的一信號發射器產生一目標信號；由該無人車的一擷取裝置擷取該目標信號，其中該目標信號關聯於該待跟隨目標； 由該無人車的一處理器根據該目標信號產生關聯於該待跟隨目標的一目標方向資訊與一目標距離資訊；由該處理器根據該目標方向資訊與該目標距離資訊控制該無人車的一移動機構，以使該移動機構驅動該無人車以跟隨該待跟隨目標；由該無人車的一雷射測距裝置偵測該無人車與一待避物體的一間隔距離；以及當該間隔距離小於一預定距離時，由該處理器根據該間隔距離控制該移動機構，以使該移動機構停止驅動該無人車；其中該擷取裝置包含複數個接收裝置，所述由該無人車的該擷取裝置擷取該目標信號係由該複數個接收裝置分別接收該信號發射器所產生的該目標信號；其中該處理器係根據該複數個接收裝置所分別接收到的該目標信號以產生該目標方向資訊與該目標距離資訊；其中該複數個接收裝置分別裝設於該無人車上的不同位置。 An unmanned vehicle driving method applied to an unmanned vehicle. The unmanned vehicle driving method includes: placing the unmanned vehicle in a following mode; generating a target signal by a signal transmitter placed on a target to be followed; and generating a target signal by the unmanned vehicle A capture device of captures the target signal, wherein the target signal is associated with the target to be followed; A processor of the unmanned vehicle generates a target direction information and a target distance information related to the target to be followed according to the target signal; the processor controls a part of the unmanned vehicle according to the target direction information and the target distance information Moving mechanism, so that the moving mechanism drives the unmanned vehicle to follow the target to be followed; a laser ranging device of the unmanned vehicle detects a separation distance between the unmanned vehicle and an object to be avoided; and when the separation distance is less than When a predetermined distance is reached, the processor controls the moving mechanism according to the separation distance so that the moving mechanism stops driving the unmanned vehicle; wherein the capture device includes a plurality of receiving devices, and the capture device of the unmanned vehicle The device captures the target signal by the plurality of receiving devices respectively receiving the target signal generated by the signal transmitter; wherein the processor generates the target direction according to the target signal respectively received by the plurality of receiving devices Information and distance information of the target; wherein the plurality of receiving devices are respectively installed in different positions on the unmanned vehicle. 如申請專利範圍第6項所述之無人車驅動方法，其中該目標信號係一超寬頻信號；其中該信號發射器與該複數個接收裝置組合成一超寬頻定位系統。 The driving method of the unmanned vehicle described in item 6 of the scope of patent application, wherein the target signal is an ultra-wideband signal; wherein the signal transmitter and the plurality of receiving devices are combined to form an ultra-wideband positioning system. 如申請專利範圍第6項所述之無人車驅動方法，進一步包含： 由該處理器根據該間隔距離控制該移動機構，以使該移動機構驅動該無人車繞過該待避物體。 The driving method of the unmanned vehicle as described in item 6 of the scope of patent application further includes: The processor controls the moving mechanism according to the separation distance, so that the moving mechanism drives the unmanned vehicle to bypass the object to be avoided. 如申請專利範圍第8項所述之無人車驅動方法，進一步包含：當該無人車繞過該待避物體後，由該處理器根據該目標方向資訊與該目標距離資訊控制該無人車的該移動機構，以使該移動機構驅動該無人車以繼續跟隨該待跟隨目標。 For example, the driving method of the unmanned vehicle described in item 8 of the scope of patent application further includes: when the unmanned vehicle bypasses the object to be avoided, the processor controls the movement of the unmanned vehicle according to the target direction information and the target distance information Mechanism, so that the moving mechanism drives the unmanned vehicle to continue to follow the target to be followed. 如申請專利範圍第6項所述之無人車驅動方法，進一步包含：當該擷取裝置於一預定時間內均未擷取到該目標信號時，由該無人車的一警示裝置發出一警示。 For example, the driving method of the unmanned vehicle described in item 6 of the scope of patent application further includes: when the capturing device does not capture the target signal within a predetermined time, a warning device of the unmanned vehicle issues a warning.
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